Concerning supervised methods in Table REF  (b), we interestingly notice that among NCNN variants, the one performing better at modeling uncertainty after completion according to [1]}, i.e. pNCNN-Exp, is the worst at detecting outliers in the input. On the contrary, NCNN-Conf-L1 is the best variant on raw LiDAR – although always outperformed by our approach, either supervised or unsupervised.
